文章基本信息

标题：Design and implementation of an 18-dof six-legged robot: ABR1
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作者：Hüseyin Oktay ERKOL ; Hüseyin DEMİREL
期刊名称：International Journal of Advanced Research in Computer Engineering & Technology (IJARCET)
印刷版ISSN：2278-1323
出版年度：2016
卷号：5
期号：6
页码：1756-1762
出版社：Shri Pannalal Research Institute of Technolgy
摘要：In this study, a six-legged robot is designed and implemented for real time walking over difficult terrains. A remote control and tracking interface program is designed to control robot in all direction and tracking the sensor data. Servo motors controlled via serial port are used as joint actuators. An FPGA based hardware designed as single chip is used for controlling the servo motors and computing the joint angels by kinematic calculations. In this way, load on the central processor is reduced and a low cost DSP used for executing the walking algorithm developed for producing the feet positions for walking on rough terrain. In addition, the mess of cable is reduced by using the FPGA based hardware and servo motors controlled via serial port. The robot has infra-red sensors for object detecting, force sensors for sensing the contact with ground and radio modules for wireless communication with computer. The success and performance of the robot is tested by simulations and real world experiments.
关键词：Co-processor; FPGA; gait generation; ; man-machine interface; six-legged robot; walking algorithm